Four-Bar Linkage Optimization Copyright 2017-2019 The MathWorks, Inc. Models a four-bar linkage in Simscape Multibody. The lengths of the links are parameterized using MATLAB variables. Adjusting those lengths enables the tip of the four-bar linkage to follow different trajectories. Using optimization algorithms, the lengths can be automatically tuned so that the tip follows a desired trajectory. Open project Four_Bar_Optim.prj to get started.